ETB PeriodicController refactoring

firmware/controllers/electronic_throttle.cpp

@@ -15,7 +15,7 @@
  *
  *
  *  ETB is controlled according to pedal position input (pedal position sensor is a potentiometer)
- *    petal 0% means pedal not pressed / idle
+ *    pedal 0% means pedal not pressed / idle
  *    pedal 100% means pedal all the way down
  *  (not TPS - not the one you can calibrate in TunerStudio)
  *
@@ -62,6 +62,7 @@
 #include "pwm_generator_logic.h"
 #include "pid.h"
 #include "engine_controller.h"
+#include "PeriodicController.h"
 
 #if EFI_ELECTRONIC_THROTTLE_BODY || defined(__DOXYGEN__)
 #include "pin_repository.h"
@@ -77,10 +78,7 @@ static Pid tuneWorkingPid(&tuneWorkingPidSettings);
 static PID_AutoTune autoTune;
 
 static LoggingWithStorage logger("ETB");
-/**
- * @brief Control Thread stack
- */
-static THD_WORKING_AREA(etbTreadStack, UTILITY_THREAD_STACK_SIZE);
+
 /**
  * @brief Pulse-Width Modulation state
  */
@@ -103,9 +101,12 @@ static bool wasEtbBraking = false;
 // todo: need to fix PWM so that it supports zero duty cycle
 #define PERCENT_TO_DUTY(X) (maxF(minI(X, 99.9), 0.1) / 100.0)
 
-static msg_t etbThread(void *arg) {
-        UNUSED(arg);
-	while (true) {
+class EtbController : public PeriodicController<UTILITY_THREAD_STACK_SIZE> {
+public:
+	EtbController()	: PeriodicController("ETB") { }
+private:
+	void PeriodicTask(efitime_t nowNt) override	{
+
 		// set debug_mode 17
 		if (engineConfiguration->debugMode == DBG_ELECTRONIC_THROTTLE_PID) {
 #if EFI_TUNER_STUDIO || defined(__DOXYGEN__)
@@ -125,8 +126,7 @@ static msg_t etbThread(void *arg) {
 
 		if (!cisnan(valueOverride)) {
 			etbPwmUp.setSimplePwmDutyCycle(valueOverride);
-			pid.sleep();
-			continue;
+			return;
 		}
 
 		percent_t actualThrottlePosition = getTPS();
@@ -148,8 +148,7 @@ static msg_t etbThread(void *arg) {
 				scheduleMsg(&logger, "GREAT NEWS! %f/%f/%f", autoTune.GetKp(), autoTune.GetKi(), autoTune.GetKd());
 			}
 
-			tuneWorkingPid.sleep();
-			continue;
+			return;
 		}
 
 
@@ -172,15 +171,10 @@ static msg_t etbThread(void *arg) {
 		if (engineConfiguration->isVerboseETB) {
 			pid.showPidStatus(&logger, "ETB");
 		}
-
-
-		// this thread is activated 10 times per second
-		pid.sleep();
 	}
-#if defined __GNUC__
-	return -1;
-#endif
-}
+};
+
+static EtbController etbController;
 
 /**
  * set_etb X
@@ -374,7 +368,9 @@ void initElectronicThrottle(void) {
 
 	pid.reset();
 
-	chThdCreateStatic(etbTreadStack, sizeof(etbTreadStack), NORMALPRIO, (tfunc_t)(void*) etbThread, NULL);
+	int periodMs = maxI(10, engineConfiguration->etb.period);
+	etbController.setPeriod(periodMs);
+	etbController.Start();
 }
 
 #endif /* EFI_ELECTRONIC_THROTTLE_BODY */

firmware/controllers/system/PeriodicController.h

@@ -35,13 +35,14 @@ template <int TStackSize>
 class PeriodicController : public ThreadController<TStackSize>
 {
 private:
-    const systime_t m_period;
+	// time in ChibiOS time units, see CH_CFG_ST_FREQUENCY
+    systime_t m_period;
     
 protected:
     /**
      * The target period between calls to PeriodicTask.
      */
-    const float m_periodSeconds;
+//    const float m_periodSeconds;
 
     /**
      * @brief Called before running the periodic task.  Optionally override this method to set up.
@@ -82,7 +83,18 @@ public:
         , m_period(CH_CFG_ST_FREQUENCY / frequencyHz)
         // Then compute the float period off of the integer one to
         //  get the ACTUAL period, which may be slightly different than requested.
-        , m_periodSeconds(m_period / (float)CH_CFG_ST_FREQUENCY)
+//        , m_periodSeconds(m_period / (float)CH_CFG_ST_FREQUENCY)
     {
     }
+
+    PeriodicController(const char* name) : PeriodicController (name, NORMALPRIO, 1) {
+    }
+
+    /**
+     * sets milliseconds period
+     */
+    void setPeriod(int periodMs) {
+    	float frequencyHz = 1000.0 / periodMs;
+    	this->m_period = CH_CFG_ST_FREQUENCY / frequencyHz;
+    }
 };

firmware/hw_layer/microsecond_timer.cpp

@@ -141,7 +141,7 @@ private:
 	}
 };
 
-MicrosecondTimerWatchdogController watchdogControllerInstance;
+static MicrosecondTimerWatchdogController watchdogControllerInstance;
 
 static constexpr GPTConfig gpt5cfg = { 1000000, /* 1 MHz timer clock.*/
 		hwTimerCallback, /* Timer callback.*/